/*
 * Copyright (C) 2023 ab_skywalker@163.com All Rights Reserved.
 *
 * SPDX-License-Identifier: MIT
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy of
 * this software and associated documentation files (the "Software"), to deal in
 * the Software without restriction, including without limitation the rights to
 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
 * the Software, and to permit persons to whom the Software is furnished to do so,
 * subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 *
 */
#include "foc_pid.h"

int32_t limitIntegral(FOC_PID_S *ppipara)
{
    if(ppipara->Integral > ppipara->IntegralMax)
        ppipara->Integral = ppipara->IntegralMax;
    else if(ppipara->Integral < ppipara->IntegralMin)
        ppipara->Integral = ppipara->IntegralMin;
}

int32_t limitOutput(int32_t output, FOC_PID_S *ppipara)
{
    if(output > ppipara->OutputMax)
        return ppipara->OutputMax;
    else if(output < ppipara->OutputMin)
        return ppipara->OutputMin;
    return output;
}

int32_t pidCtrlBlock(int32_t target, int32_t input, FOC_PID_S *ppipara)
{
    int32_t ret = 0;
    int32_t errordata = target - input;
    
    if((errordata > -(ppipara->DeadZone)) && (errordata < ppipara->DeadZone)) {
        errordata = 0;
        ppipara->Integral = 0;
        ppipara->LastInput = 0;
    }

    ppipara->Integral += ((errordata * ppipara->Ki) / (ppipara->Divide));
    ret = (ppipara->Integral) + ((errordata * ppipara->Kp) + \
        ((input - ppipara->LastInput) * ppipara->Kd)) / (ppipara->Divide);
    ppipara->LastInput = input;
    limitIntegral(ppipara);
    ret = limitOutput(ret, ppipara);
    return ret;
}